TY - JOUR
T1 - Stability Analysis of Gradient-Based Distributed Formation Control with Heterogeneous Sensing Mechanism
T2 - The Three Robot Case
AU - Chan, Nelson P. K.
AU - Jayawardhana, Bayu
AU - Garcia de Marina, Hector
PY - 2022
Y1 - 2022
N2 - This article focuses on the stability analysis of a formation shape displayed by a team of mobile robots that uses a heterogeneous sensing mechanism. For the setups consisting of three robots, we show that the use of heterogeneous gradient-based control laws can give rise to undesired invariant sets where a distorted formation shape is possibly moving at a constant velocity. We guarantee local asymptotic stability for the correct and desired formation shape. For the setup with one distance and two bearing robots, we identify the conditions such that an incorrect moving formation is locally attractive.
AB - This article focuses on the stability analysis of a formation shape displayed by a team of mobile robots that uses a heterogeneous sensing mechanism. For the setups consisting of three robots, we show that the use of heterogeneous gradient-based control laws can give rise to undesired invariant sets where a distorted formation shape is possibly moving at a constant velocity. We guarantee local asymptotic stability for the correct and desired formation shape. For the setup with one distance and two bearing robots, we identify the conditions such that an incorrect moving formation is locally attractive.
UR - http://www.scopus.com/inward/record.url?scp=85135784448&partnerID=8YFLogxK
U2 - 10.1109/TAC.2021.3115881
DO - 10.1109/TAC.2021.3115881
M3 - Article
SN - 0018-9286
VL - 67
SP - 4285
EP - 4292
JO - IEEE Transactions on Automatic Control
JF - IEEE Transactions on Automatic Control
IS - 8
M1 - 9551785
ER -